Feature Engineering based methods usually depend on different stages such as ground removal, clustering and attribute calculation based on traditional methods as in [1]} that involved ground removal or in [2]} that performed neighborhood graph construction followed by postprocessing and geometrical calculations. In [3]}, dynamic oxeloxel grids are used in which the point normals are updated selectively to cache the geometric consistencies to an incremental segmentation algorithm. In addition, Voting for Voting [4]} proposed using a 3D sliding window similar to convolution that was tested on KITTI [5]} object detection Benchmark.
